CN117687426A - Unmanned aerial vehicle flight control method and system in low-altitude environment - Google Patents
Unmanned aerial vehicle flight control method and system in low-altitude environment Download PDFInfo
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Abstract
The invention discloses a flight control method and a flight control system of an unmanned aerial vehicle in a low-altitude environment, which are used for a construction site and are used for constructing a coordinate model of the construction site space in advance; correcting a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space; carrying out fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system; and monitoring the construction site space by utilizing a target construction site coordinate system to detect faults of the unmanned aerial vehicle. According to the scheme, the accuracy of the use environment of the unmanned aerial vehicle is fully ensured by fusing the construction site space and the three-dimensional coordinates of the construction site, and the control and layout of the unmanned aerial vehicle for fault monitoring under different construction sites are reasonably prepared.
Description
Technical Field
The invention relates to the technical field of metering, in particular to a flight control method and system of an unmanned aerial vehicle in a low-altitude environment.
Background
At present, the industry of unmanned aerial vehicles is developed rapidly, and a large number of intelligent mobile terminals are introduced for replacing manual operation to automatically check and monitor the conditions of parts of the unmanned aerial vehicles. The unmanned aerial vehicle part inspection distance is long, the position is high, the danger coefficient is large under high voltage, and manual inspection is time-consuming and labor-consuming, and the efficiency is low. Because the result of patrolling and examining needs timely storage, equipment such as camera and GPS navigator are carried often to the staff, and the maintenance center of uploading to unmanned vehicles of control is archived, this certainly increases the difficulty of patrolling and examining in the undeveloped place of transportation, and unmanned vehicles parts trouble of control is unknown simultaneously, and manual fault detection inspection is very dangerous, also easily causes personnel to be injured. The current image visualization industry develops rapidly, and the method has a lot of applications in monitoring unmanned aerial vehicle fault detection, but binocular vision systems and airborne multi-line radars used in a common scheme are too expensive, so that the inspection cost is increased.
However, due to various factors such as nature, man-made, etc., the failure of the unmanned aerial vehicle system is unavoidable, resulting in interruption of the user's construction or degradation of the construction quality, even damage to the unmanned aerial vehicle equipment. On the other hand, while the scale and complexity of fault detection are continuously increased, the automation level of the unmanned aerial vehicle monitoring system is also continuously enhanced, and more automatic devices are applied to the unmanned aerial vehicle monitoring system, so that when fault detection fails, the fault location cannot be effectively judged at the first time, and great loss is caused.
Disclosure of Invention
According to a first aspect of the present invention, the present invention claims a method for controlling the flight of an unmanned aerial vehicle in a low-altitude environment, for use in a construction site, comprising the steps of:
pre-constructing a coordinate model of a construction site space;
correcting a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space;
carrying out fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system;
and monitoring the construction site space by utilizing the target construction site coordinate system to detect faults of the unmanned aerial vehicle.
Further, the pre-constructing a coordinate model of the construction site space includes:
a three-dimensional coordinate point of a coordinate model for the construction site space is calculated using the following formula;
wherein R is the maximum distance of hoisting operation radius, H is the layer height of a construction site, andthe method comprises the steps that the furthest distance of an unmanned aerial vehicle is monitored for approach of a construction site, lambda is the width of the construction site, e is the area of a hoisting running radius, x is a north-south coordinate point in the three-dimensional coordinate points, y is an east-west coordinate point in the three-dimensional coordinate points, and z is a layer height coordinate point in the three-dimensional coordinate points;
constructing a coordinate model of the construction site space according to a preset number of three-dimensional coordinate points;
and displaying the coordinate model of the construction site space after construction is completed.
Further, the correcting the first construction site space coordinate model or the first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space comprises:
determining a specific monitoring unmanned aerial vehicle of the construction site space;
when the specific unmanned monitoring aircraft is a first unmanned fault monitoring aircraft, correcting the first construction site space coordinate model constructed by the first unmanned fault monitoring aircraft;
when the specific unmanned aerial vehicle is a second unmanned aerial vehicle or a third unmanned aerial vehicle, correcting the first construction site two-dimensional coordinate system constructed by the second unmanned aerial vehicle or the third unmanned aerial vehicle.
Further, before the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system are fused to obtain a target construction site coordinate system, the method further includes:
determining a minimum circumscribed rectangle of the construction site space according to the first construction site space coordinate model or a second construction site two-dimensional coordinate system;
determining the current position of the construction site space in the minimum circumscribed rectangle;
and determining the current position as a first center point in the first construction site space coordinate model or a first construction site two-dimensional coordinate system.
Further, the fusing processing is performed on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system, which includes:
correcting a second center point of the coordinate model of the construction site space, wherein the second center point is a point where a hoisting operation radius bearing wall is located;
correcting a first width and a first length of the construction site space at the current moment in the minimum circumscribed rectangle;
calculating a first offset distance from a perpendicular bisector of the first width and first length to the second center point;
performing position correction on the first center point according to the first deviation distance;
correcting a second width of the first center point after position correction, and calculating a second deviation distance between the second width and the first width;
translating the position-corrected first center point according to the second offset distance;
confirming the position after translation as a target center point;
constructing a new second construction site space coordinate model or a second construction site two-dimensional coordinate system based on the target center point and the minimum circumscribed rectangle;
and confirming the second construction site space coordinate model or the second construction site two-dimensional coordinate system as the target construction site coordinate system.
Further, the monitoring unmanned aerial vehicle fault detection for the construction site space by using the target construction site coordinate system includes:
correcting a vehicle kinematic model of the construction site space;
combining the vehicle kinematic model and the target construction site coordinate system to obtain electricity consumption information and gas consumption information of the construction site space construction site;
and monitoring the construction site space according to the electricity consumption information and the gas consumption information of the construction site space construction site, and detecting faults of the unmanned aerial vehicle.
According to a second aspect of the present invention, the present invention claims an unmanned aerial vehicle flight control system in a low-altitude environment for a construction site, characterized in that it comprises:
the construction module is used for pre-constructing a coordinate model of the construction site space;
the correction module is used for correcting a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space;
the processing module is used for carrying out fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system;
and the unmanned aerial vehicle fault detection module is used for detecting faults of the unmanned aerial vehicle by utilizing the target construction site coordinate system.
Further, the building module includes:
the construction site three-dimensional sub-module is used for calculating a three-dimensional coordinate point of a coordinate model of the construction site space by using the following formula;
wherein R is the maximum distance of hoisting operation radius, H is the layer height of a construction site, andthe method comprises the steps that the furthest distance of an unmanned aerial vehicle is monitored for approach of a construction site, lambda is the width of the construction site, e is the area of a hoisting running radius, x is a north-south coordinate point in the three-dimensional coordinate points, y is an east-west coordinate point in the three-dimensional coordinate points, and z is a layer height coordinate point in the three-dimensional coordinate points;
the construction site model submodule is used for constructing a coordinate model of the construction site space according to a preset number of three-dimensional coordinate points;
the display sub-module is used for displaying the coordinate model of the construction site space after construction is completed;
the correction module includes:
the determining submodule is used for determining a specific monitoring unmanned aerial vehicle of the construction site space;
the first correction sub-module is used for correcting the first construction site space coordinate model constructed by the first fault monitoring unmanned aerial vehicle when the specific monitoring unmanned aerial vehicle is the first fault monitoring unmanned aerial vehicle;
and the second correction sub-module is used for correcting the first construction site two-dimensional coordinate system constructed by the second or third unmanned fault monitoring aircraft when the specific unmanned fault monitoring aircraft is the second or third unmanned fault monitoring aircraft.
Further, the system further comprises:
the rectangle drawing module is used for determining the minimum circumscribed rectangle of the construction site space according to the first construction site space coordinate model or the second construction site two-dimensional coordinate system;
the induction module is used for determining the current position of the construction site space in the minimum circumscribed rectangle;
and the central point module is used for determining the current position as a first central point in the first construction site space coordinate model or a first construction site two-dimensional coordinate system.
Further, the processing module includes:
the third correction submodule is used for correcting a second center point of the coordinate model of the construction site space, wherein the second center point is a point where a hoisting operation radius bearing wall is located;
a fourth correction submodule, configured to correct a first width and a first length of the construction site space at a current time within the minimum circumscribed rectangle;
a second calculation sub-module for calculating a first offset distance of a perpendicular bisector of the first width and the first length to the second center point;
the correction submodule is used for carrying out position correction on the first center point according to the first deviation distance;
a fifth correction sub-module, configured to correct a second width of the position-corrected first center point, and calculate a second offset distance between the second width and the first width;
the translation sub-module is used for translating the first center point subjected to the position correction according to the second deviation distance;
a first confirmation sub-module for confirming the position after translation as a target center point;
the second construction submodule is used for constructing a new second construction site space coordinate model or a second construction site two-dimensional coordinate system based on the target center point and the minimum circumscribed rectangle;
the second confirming sub-module is used for confirming the second construction site space coordinate model or the second construction site two-dimensional coordinate system as the target construction site coordinate system;
the unmanned aerial vehicle fault detection module of control includes:
a sixth modification sub-module for modifying a vehicle kinematic model of the construction site space;
the obtaining submodule is used for combining the vehicle kinematic model and the target construction site coordinate system to obtain electricity consumption information and gas consumption information of the construction site space construction site;
and the unmanned aerial vehicle fault detection monitoring sub-module is used for carrying out unmanned aerial vehicle fault detection on the construction site space according to the power consumption information and the gas consumption information of the construction site space.
The invention discloses a flight control method and a flight control system of an unmanned aerial vehicle in a low-altitude environment, which are used for a construction site and are used for constructing a coordinate model of the construction site space in advance; correcting a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space; carrying out fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system; and monitoring the construction site space by utilizing a target construction site coordinate system to detect faults of the unmanned aerial vehicle. According to the scheme, on one hand, the influence of the difference of the using positions of the unmanned aerial vehicle to the faults of the unmanned aerial vehicle is effectively considered, the accuracy of the using environment of the unmanned aerial vehicle is fully ensured by fusing the space of the construction site and the three-dimensional coordinates of the construction site, and the control and layout of the unmanned aerial vehicle with the faults under different construction sites are reasonably prepared.
Drawings
FIG. 1 is a workflow diagram of a method of unmanned aerial vehicle flight control in a low altitude environment in accordance with the present invention;
FIG. 2 is a second workflow diagram of a method of unmanned aerial vehicle flight control in a low altitude environment in accordance with the present invention;
FIG. 3 is a block diagram of an unmanned aerial vehicle flight control system in a low altitude environment in accordance with the present invention;
fig. 4 is a second structural block diagram of an unmanned aerial vehicle flight control system in a low altitude environment in accordance with the present invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of systems and methods that are consistent with some aspects of the present disclosure, as detailed in the accompanying claims.
The unmanned aerial vehicle flight control method in the low-altitude environment is used for a construction site, and as shown in fig. 1, and comprises the following steps:
s101, constructing a coordinate model of a construction site space in advance;
step S102, correcting a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space;
step S103, carrying out fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system;
step S104, monitoring the construction site space by utilizing a target construction site coordinate system and detecting faults of the unmanned aerial vehicle;
in the embodiment, the construction site space coordinate model with a lifting operation radius surface is constructed, then the construction site space coordinate model or the construction site two-dimensional coordinate system generated by the unmanned aerial vehicle is fused with the construction site space coordinate model or the construction site two-dimensional coordinate system generated by the unmanned aerial vehicle, the generated construction site space coordinate model or the construction site two-dimensional coordinate system depends on different unmanned aerial vehicles, after the fusion, a target construction site coordinate system of an area where the construction site space is located is obtained, and the fault detection of the unmanned aerial vehicle is carried out on the construction site space according to the target construction site coordinate system and the specific position of the construction site space in the target construction site coordinate system.
The working principle of the technical scheme is as follows: pre-constructing a coordinate model of a construction site space; correcting a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space; carrying out fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system; and monitoring the construction site space by utilizing a target construction site coordinate system to detect faults of the unmanned aerial vehicle.
The beneficial effects of the technical scheme are as follows: the coordinate model of the construction site space and the construction site space coordinate model or the construction site two-dimensional coordinate system generated by the unmanned aerial vehicle monitoring on the construction site space are fused to obtain the target construction site coordinate system capable of carrying out unmanned aerial vehicle monitoring fault detection on the construction site space, so that the position information and the coordinate direction of the construction site space construction site can be accurately obtained, the unmanned aerial vehicle monitoring fault detection on the construction site space can be accurately carried out according to the information, the problem that the unmanned aerial vehicle monitoring fault detection cannot be accurately carried out on the continuously-changing construction site space in the prior art, and further the influence of inaccurate or more serious use detection of the unmanned aerial vehicle monitoring can be caused is solved, the accuracy and the safety are improved, and meanwhile, the method can enable each construction heavy vehicle operation company to realize the actual automatic construction heavy vehicle operation transportation mode, so that the cost of construction heavy vehicle operation enterprises is saved to a great extent.
In one embodiment, pre-building a coordinate model of a job site space includes:
a three-dimensional coordinate point of a coordinate model for the construction site space is calculated using the following formula;
wherein R is as followsThe maximum distance of the re-running radius is H, the H is the layer height of the construction site, theFor the furthest distance of the entrance monitoring unmanned aerial vehicle in the construction site, lambda is the width of the construction site, e is the area of the hoisting running radius, x is the north-south coordinate point in the three-dimensional coordinate point, y is the east-west coordinate point in the three-dimensional coordinate point, and z is the layer height coordinate point in the three-dimensional coordinate point;
constructing a coordinate model of the construction site space according to a preset number of three-dimensional coordinate points;
and displaying the coordinate model of the construction site space after the construction is completed.
The beneficial effects of the technical scheme are as follows: the coordinate model of the construction site space is built according to the actual data and sleeved in a formula, so that the built coordinate model of the construction site space is more accurate, and a good bedding, a good operation and a good operation are performed for the fusion processing of the construction site space coordinate model or a construction site two-dimensional coordinate system generated by unmanned aerial vehicle flight control equipment in the follow-up and low-altitude environment,
In one embodiment, as shown in fig. 2, modifying the first job site space coordinate model or the first job site two-dimensional coordinate system exhibited by the unmanned aerial vehicle based on the difference in the unmanned aerial vehicle on the job site space, includes:
step S201, determining a specific monitoring unmanned aerial vehicle of a construction site space;
step S202, when a specific unmanned monitoring aircraft is a first unmanned fault monitoring aircraft, correcting a first construction site space coordinate model constructed by the first unmanned fault monitoring aircraft;
step S203, when the specific unmanned aerial vehicle is the second unmanned aerial vehicle or the third unmanned aerial vehicle, correcting a first construction site two-dimensional coordinate system constructed by the second unmanned aerial vehicle or the third unmanned aerial vehicle;
the beneficial effects of the technical scheme are as follows: different construction site coordinate systems can be generated according to different monitoring unmanned aerial vehicles in the construction site space, various conditions can be met, and the unexpected situation that only one construction site coordinate system can be singly generated but cannot be effectively fused with a coordinate model of the construction site space is avoided.
In one embodiment, before the fusing the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain the target construction site coordinate system, the method further includes:
determining a minimum circumscribed rectangle where a construction site space is located according to the first construction site space coordinate model or the second construction site two-dimensional coordinate system;
determining the current position of the construction site space in the minimum circumscribed rectangle;
the current position is determined as a first center point in a first construction site space coordinate model or a first construction site two-dimensional coordinate system.
The beneficial effects of the technical scheme are as follows: and determining a first center point of the construction site space in a first construction site space coordinate model or a first construction site two-dimensional coordinate system by judging the specific position of the construction site space in the minimum circumscribed rectangle so as to track and sense the position of the construction site space.
In one embodiment, the fusing processing is performed on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system, which includes:
correcting a second center point of the coordinate model of the construction site space, wherein the second center point is a point where a hoisting operation radius bearing wall is located;
correcting the first width and the first length of the construction site space at the current moment in the minimum circumscribed rectangle;
calculating a first offset distance from a perpendicular bisector of the first width and the first length to the second center point;
performing position correction on the first center point according to the first deviation distance;
correcting the second width of the first center point after position correction, and calculating a second deviation distance between the second width and the first width;
translating the position-corrected first center point according to the second offset distance;
confirming the position after translation as a target center point;
constructing a new second construction site space coordinate model or a second construction site two-dimensional coordinate system based on the target center point and the minimum circumscribed rectangle;
confirming the second construction site space coordinate model or the second construction site two-dimensional coordinate system as a target construction site coordinate system;
in this embodiment, we take the point of the bearing wall in the coordinate model of the construction site space as the second center point, then correct the first center point of the construction site space at the current position according to the angle between the first straight line (i.e. the perpendicular bisector) from the intersection point of the current time of the construction site space and the first length to the ground in the minimum circumscribed rectangle and the second straight line from the intersection point of the current time of the construction site space and the first length to the bearing wall (i.e. the second center point), the above correction means that the coordinate model and the center point of the construction site space are refracted to the center point of the construction site space coordinate model or the construction site two-dimensional coordinate system, the direction and the area are unified, after correction we calculate the deviation distance of the construction site space width and translate the deviation distance, then can accurately judge the specific position of the construction site space in the coordinate model of the construction site space, and then reconstruct the new construction site space coordinate model or the construction site two-dimensional coordinate system by using the sensing center point as the final target construction site coordinate system.
The beneficial effects of the technical scheme are as follows: the accurate position of the construction site space in the coordinate model of the construction site space is used, the target construction site coordinate system can be constructed, the position of the final construction site space is more practical, the constructed target construction site coordinate system can also more intuitively display the position change of the construction site space, and the unmanned aerial vehicle fault detection is more accurate.
In one embodiment, monitoring unmanned aerial vehicle fault detection for a job site space using a target job site coordinate system includes:
correcting a vehicle kinematic model of a construction site space;
combining the vehicle kinematic model and the target construction site coordinate system to obtain electricity consumption information and gas consumption information of a construction site space;
and monitoring the construction site space according to the electricity consumption information and the gas consumption information of the construction site space construction site, and detecting faults of the unmanned aerial vehicle.
The beneficial effects of the technical scheme are as follows: the power consumption information and the gas consumption information of the construction site space are corrected by combining the target construction site coordinate system and the vehicle kinematic model, so that the construction site space can be accurately monitored to perform unmanned aerial vehicle fault detection work according to the specific position of the power consumption information and the gas consumption information in the target construction site coordinate system, and labor is saved.
The embodiment also discloses an unmanned aerial vehicle flight control system under low altitude environment for the job site, as shown in fig. 3, the system includes:
a construction module 301, configured to construct a coordinate model of a construction site space in advance;
the correction module 302 is configured to correct a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space;
the processing module 303 is configured to perform fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system, so as to obtain a target construction site coordinate system;
the unmanned aerial vehicle fault detection module 304 is configured to detect a fault of the unmanned aerial vehicle by using the target construction site coordinate system.
In one embodiment, a build module includes:
the construction site three-dimensional sub-module is used for calculating a three-dimensional coordinate point of a coordinate model of the construction site space by using the following formula;
wherein R is the maximum distance of hoisting operation radius, H is the layer height of a construction site, andfor the furthest distance of the entrance monitoring unmanned aerial vehicle in the construction site, lambda is the width of the construction site, e is the area of the hoisting running radius, x is the north-south coordinate point in the three-dimensional coordinate point, y is the east-west coordinate point in the three-dimensional coordinate point, and z is the layer height coordinate point in the three-dimensional coordinate point;
the construction site model submodule is used for constructing a coordinate model of a construction site space according to a preset number of three-dimensional coordinate points;
the display sub-module is used for displaying the coordinate model of the construction site space after construction is completed;
a correction module, comprising:
the determining submodule is used for determining a specific monitoring unmanned aerial vehicle in the construction site space;
the first correction sub-module is used for correcting a first construction site space coordinate model constructed by the first unmanned fault monitoring aircraft when the specific unmanned fault monitoring aircraft is the first unmanned fault monitoring aircraft;
and the second correction sub-module is used for correcting the first construction site two-dimensional coordinate system constructed by the second fault monitoring unmanned aerial vehicle or the third fault monitoring unmanned aerial vehicle when the specific monitoring unmanned aerial vehicle is the second fault monitoring unmanned aerial vehicle or the third fault monitoring unmanned aerial vehicle.
In one embodiment, the system further comprises:
the rectangle drawing module is used for determining the minimum circumscribed rectangle of the construction site space according to the first construction site space coordinate model or the second construction site two-dimensional coordinate system;
the induction module is used for determining the current position of the construction site space in the minimum circumscribed rectangle;
and the center point module is used for determining the current position as a first center point in the first construction site space coordinate model or the first construction site two-dimensional coordinate system.
In one embodiment, a processing module includes:
the third correction submodule is used for correcting a second center point of the coordinate model of the construction site space, wherein the second center point is a point where a hoisting operation radius bearing wall is located;
the fourth correction submodule is used for correcting the first width and the first length of the construction site space at the current moment in the minimum circumscribed rectangle;
a second calculation sub-module for calculating a first offset distance from a perpendicular bisector of the first width and the first length to the second center point;
the correction submodule is used for carrying out position correction on the first center point according to the first deviation distance;
a fifth correction sub-module for correcting the second width of the first center point after the position correction, and calculating a second deviation distance between the second width and the first width;
the translation sub-module is used for translating the first center point subjected to the position correction according to the second deviation distance;
a first confirmation sub-module for confirming the position after translation as a target center point;
the second construction submodule is used for constructing a new second construction site space coordinate model or a second construction site two-dimensional coordinate system based on the target center point and the minimum circumscribed rectangle;
the second confirming submodule is used for confirming the second construction site space coordinate model or the second construction site two-dimensional coordinate system as a target construction site coordinate system;
as shown in fig. 4, the unmanned aerial vehicle fault detection module includes:
a sixth correction submodule 4041 for correcting the vehicle kinematic model of the construction site space;
the obtaining submodule 4042 is used for combining the vehicle kinematic model and the target construction site coordinate system to obtain the electricity consumption information and the gas consumption information of the construction site space construction site;
the unmanned aerial vehicle fault detection submodule 4043 is used for detecting faults of the unmanned aerial vehicle in the construction site space according to the electricity consumption information and the gas consumption information of the construction site space.
In one embodiment, the method comprises:
the ultrasonic monitoring unmanned aerial vehicle fault detection method of combining the ultrasonic monitoring unmanned aerial vehicle and the CJT through the ultrasonic monitoring unmanned aerial vehicle fault detection data shows a reference coordinate system, wherein the reference coordinate system comprises a three-dimensional or two-dimensional coordinate system, and the ultrasonic monitoring unmanned aerial vehicle fault detection method of combining the ultrasonic monitoring unmanned aerial vehicle and the CJT through the third fault ultrasonic monitoring unmanned aerial vehicle and the DR can detect and accurately sense the position of the construction site space, and after the combination is completed, the coordinate system data which can be understood by the construction site space is shown, for example: the third unmanned aerial vehicle intelligent ultrasonic monitoring vehicle induction precision is + -20nl, the first unmanned aerial vehicle intelligent ultrasonic monitoring unmanned aerial vehicle intelligent fault CJT induction precision is + -1nl+1ppm, the DR intelligent ultrasonic monitoring unmanned aerial vehicle induction precision is + -10-15 nl, the three precision are fused, the construction site space precision can reach + -2-5 nl, the precision can reach + -1nl under the frequency of 20HZ, the precision of the construction site space position is greatly improved, and the precision of the fault detection of the unmanned aerial vehicle intelligent ultrasonic monitoring is greatly improved.
It will be appreciated by those skilled in the art that the first and second aspects of the present invention refer to different phases of application.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Those skilled in the art will appreciate that various modifications and improvements can be made to the disclosure. For example, the various devices or components described above may be implemented in hardware, or may be implemented in software, firmware, or a combination of some or all of the three.
A flowchart is used in this disclosure to describe the steps of a method according to an embodiment of the present disclosure. It should be understood that the steps that follow or before do not have to be performed in exact order. Rather, the various steps may be processed in reverse order or simultaneously. Also, other operations may be added to these processes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the methods described above may be implemented by a computer program to instruct related hardware, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic disk, or an optical disk. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiment may be implemented in the form of hardware, or may be implemented in the form of a software functional module. The present disclosure is not limited to any specific form of combination of hardware and software.
Unless defined otherwise, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The foregoing is illustrative of the present disclosure and is not to be construed as limiting thereof. Although a few exemplary embodiments of this disclosure have been described, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this disclosure. Accordingly, all such modifications are intended to be included within the scope of this disclosure as defined in the claims. It is to be understood that the foregoing is illustrative of the present disclosure and is not to be construed as limited to the specific embodiments disclosed, and that modifications to the disclosed embodiments, as well as other embodiments, are intended to be included within the scope of the appended claims. The disclosure is defined by the claims and their equivalents.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The unmanned aerial vehicle flight control method in the low-altitude environment is used for a construction site and is characterized by comprising the following steps:
pre-constructing a coordinate model of a construction site space;
correcting a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space;
carrying out fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system;
and monitoring the construction site space by utilizing the target construction site coordinate system to detect faults of the unmanned aerial vehicle.
2. The method for controlling the flight of an unmanned aerial vehicle in a low-altitude environment according to claim 1, wherein the pre-constructing a coordinate model of a construction site space comprises:
calculating a three-dimensional coordinate point of a coordinate model of the construction site space by using the following formula;
；
wherein R is the maximum distance of hoisting operation radius, H is the layer height of a construction site, andthe method comprises the steps that the furthest distance of an unmanned aerial vehicle is monitored for approach of a construction site, lambda is the width of the construction site, e is the area of a hoisting running radius, x is a north-south coordinate point in the three-dimensional coordinate points, y is an east-west coordinate point in the three-dimensional coordinate points, and z is a layer height coordinate point in the three-dimensional coordinate points;
constructing a coordinate model of the construction site space according to a preset number of three-dimensional coordinate points;
and displaying the coordinate model of the construction site space after construction is completed.
3. The method for controlling the flight of the unmanned aerial vehicle in the low-altitude environment according to claim 2, wherein the correcting the first construction site space coordinate model or the first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles monitored in the construction site space comprises:
determining a specific monitoring unmanned aerial vehicle of the construction site space;
when the specific unmanned monitoring aircraft is a first unmanned fault monitoring aircraft, correcting the first construction site space coordinate model constructed by the first unmanned fault monitoring aircraft;
when the specific unmanned aerial vehicle is a second unmanned aerial vehicle or a third unmanned aerial vehicle, correcting the first construction site two-dimensional coordinate system constructed by the second unmanned aerial vehicle or the third unmanned aerial vehicle.
4. A method of controlling the flight of an unmanned aerial vehicle in a low-altitude environment according to claim 3, wherein before the fusion processing of the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system, the method further comprises:
determining a minimum circumscribed rectangle of the construction site space according to the first construction site space coordinate model or a second construction site two-dimensional coordinate system;
determining the current position of the construction site space in the minimum circumscribed rectangle;
and determining the current position as a first center point in the first construction site space coordinate model or a first construction site two-dimensional coordinate system.
5. The method for controlling the flight of an unmanned aerial vehicle in a low-altitude environment according to claim 4, wherein the fusing the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system comprises:
correcting a second center point of the coordinate model of the construction site space, wherein the second center point is a point where a hoisting operation radius bearing wall is located;
correcting a first width and a first length of the construction site space at the current moment in the minimum circumscribed rectangle;
calculating a first offset distance from a perpendicular bisector of the first width and first length to the second center point;
performing position correction on the first center point according to the first deviation distance;
correcting a second width of the first center point after position correction, and calculating a second deviation distance between the second width and the first width;
translating the position-corrected first center point according to the second offset distance;
confirming the position after translation as a target center point;
constructing a new second construction site space coordinate model or a second construction site two-dimensional coordinate system based on the target center point and the minimum circumscribed rectangle;
and confirming the second construction site space coordinate model or the second construction site two-dimensional coordinate system as the target construction site coordinate system.
6. The method for controlling the unmanned aerial vehicle to fly in the low-altitude environment according to claim 1, wherein the monitoring the unmanned aerial vehicle fault detection for the construction site space by using the target construction site coordinate system comprises:
correcting a vehicle kinematic model of the construction site space;
combining the vehicle kinematic model and the target construction site coordinate system to obtain electricity consumption information and gas consumption information of the construction site space construction site;
and monitoring the construction site space according to the electricity consumption information and the gas consumption information of the construction site space construction site, and detecting faults of the unmanned aerial vehicle.
7. An unmanned aerial vehicle flight control system in a low altitude environment for a job site, the system comprising:
the construction module is used for pre-constructing a coordinate model of the construction site space;
the correction module is used for correcting a first construction site space coordinate model or a first construction site two-dimensional coordinate system displayed by the unmanned aerial vehicle based on the difference of the unmanned aerial vehicles on the construction site space;
the processing module is used for carrying out fusion processing on the coordinate model of the construction site space and the first construction site space coordinate model or the first construction site two-dimensional coordinate system to obtain a target construction site coordinate system;
and the unmanned aerial vehicle fault detection module is used for detecting faults of the unmanned aerial vehicle by utilizing the target construction site coordinate system.
8. The unmanned aerial vehicle flight control system of claim 7, wherein the building module comprises:
the construction site three-dimensional sub-module is used for calculating a three-dimensional coordinate point of a coordinate model of the construction site space by using the following formula;
；
wherein R is the maximum distance of hoisting operation radius, H is the layer height of a construction site, andthe method comprises the steps that the furthest distance of an unmanned aerial vehicle is monitored for approach of a construction site, lambda is the width of the construction site, e is the area of a hoisting running radius, x is a north-south coordinate point in the three-dimensional coordinate points, y is an east-west coordinate point in the three-dimensional coordinate points, and z is a layer height coordinate point in the three-dimensional coordinate points;
the construction site model submodule is used for constructing a coordinate model of the construction site space according to a preset number of three-dimensional coordinate points;
the display sub-module is used for displaying the coordinate model of the construction site space after construction is completed;
the correction module includes:
the determining submodule is used for determining a specific monitoring unmanned aerial vehicle of the construction site space;
the first correction sub-module is used for correcting the first construction site space coordinate model constructed by the first fault monitoring unmanned aerial vehicle when the specific monitoring unmanned aerial vehicle is the first fault monitoring unmanned aerial vehicle;
and the second correction sub-module is used for correcting the first construction site two-dimensional coordinate system constructed by the second or third unmanned fault monitoring aircraft when the specific unmanned fault monitoring aircraft is the second or third unmanned fault monitoring aircraft.
9. The unmanned aerial vehicle flight control system of claim 8, wherein the system further comprises:
the rectangle drawing module is used for determining the minimum circumscribed rectangle of the construction site space according to the first construction site space coordinate model or the second construction site two-dimensional coordinate system;
the induction module is used for determining the current position of the construction site space in the minimum circumscribed rectangle;
and the central point module is used for determining the current position as a first central point in the first construction site space coordinate model or a first construction site two-dimensional coordinate system.
10. The unmanned aerial vehicle flight control system of claim 9, wherein the processing module comprises:
the third correction submodule is used for correcting a second center point of the coordinate model of the construction site space, wherein the second center point is a point where a hoisting operation radius bearing wall is located;
a fourth correction submodule, configured to correct a first width and a first length of the construction site space at a current time within the minimum circumscribed rectangle;
a second calculation sub-module for calculating a first offset distance of a perpendicular bisector of the first width and the first length to the second center point;
the correction submodule is used for carrying out position correction on the first center point according to the first deviation distance;
a fifth correction sub-module, configured to correct a second width of the position-corrected first center point, and calculate a second offset distance between the second width and the first width;
the translation sub-module is used for translating the first center point subjected to the position correction according to the second deviation distance;
a first confirmation sub-module for confirming the position after translation as a target center point;
the second construction submodule is used for constructing a new second construction site space coordinate model or a second construction site two-dimensional coordinate system based on the target center point and the minimum circumscribed rectangle;
the second confirming sub-module is used for confirming the second construction site space coordinate model or the second construction site two-dimensional coordinate system as the target construction site coordinate system;
the unmanned aerial vehicle fault detection module of control includes:
a sixth modification sub-module for modifying a vehicle kinematic model of the construction site space;
the obtaining submodule is used for combining the vehicle kinematic model and the target construction site coordinate system to obtain electricity consumption information and gas consumption information of the construction site space construction site;
and the unmanned aerial vehicle fault detection monitoring sub-module is used for carrying out unmanned aerial vehicle fault detection on the construction site space according to the power consumption information and the gas consumption information of the construction site space.
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